1

source/DeviceLibrary/deviceLibrary/PanasonicServo/ACServerManager.cs

@@ -362,8 +362,9 @@ namespace OnlineStore.DeviceLibrary
         }
         }
         public static void SetSpeed(string portName, int slvAddr, int speed)
         public static void SetSpeed(string portName, int slvAddr, int speed)
         {
         {
+            speed = Math.Abs(speed);
             int preSpeed = GetAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr);
             int preSpeed = GetAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr);
-            if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(Math.Abs(speed))))
+            if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(speed)))
             {
             {
                 string v1 = slvAddr + "064601  " + ACServerManager.SpeedToStr(speed, 4) + "  ffff";
                 string v1 = slvAddr + "064601  " + ACServerManager.SpeedToStr(speed, 4) + "  ffff";
                 LogUtil.debug("轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】");
                 LogUtil.debug("轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】");
@@ -381,7 +382,7 @@ namespace OnlineStore.DeviceLibrary
                         Thread.Sleep(SleepMSendons);
                         Thread.Sleep(SleepMSendons);
                     }
                     }
                 }
                 }
-                UpdateAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr, Math.Abs(speed));
+                UpdateAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr, speed);
                 Thread.Sleep(SleepMSendons);
                 Thread.Sleep(SleepMSendons);
             }
             }
         }
         }